# Chance Constraint Robust Control with Control Barrier Functions

arXiv: https://arxiv.org/abs/2012.10573 · HTML: https://mlsanity.com/paper/2012.10573/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Dec 2020.

## Built on by (most cited first, 1 of 1)

- [RAYEN: Imposition of Hard Convex Constraints on Neural Networks](https://mlsanity.com/paper/2307.08336/) (2023)

## Abstract (arXiv)

In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints for the convergence and collision avoidance condition. In particular, the stability and safety guarantees come from chance Control Barrier Function (CBF) constraints and chance Control Lyapunov Function (CLF) constraints, respectively. We use convex over-approximations to get upper bounds of the constraints, leading to a convex robust quadratic program for finding the controller. We apply and provide simulation results for equilibrium control and path control. The result shows that the controller is robust with the noise input.